/*
 * @FilePath: \MDK-ARMd:\Engineeringtemplate\RC2022\RC-Control-2022\R2\Task\zt38_usart_task.h
 * @Description: 
 * @uthor: 周鸣阳
 * @version: 0.1
 * @Date: 2022-03-14 21:28:54
 * @copyright: Copyright (c) 2022 SPR
 */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __ODOM_SERIAL_TASK_H__
#define __ODOM_SERIAL_TASK_H__

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "main.h"
	
#define SINGLE_DATA_LENGTH 4

typedef enum{
	VX=0,
	VY,
	VTH,
	AX,
	AY,
	WZ,
	ODOM_Data_Total,
}odom_data_e;

typedef union odom //注意C板为小端模式
{
	uint8_t s[SINGLE_DATA_LENGTH];
	float f;
}odom_u;


void odom_serial_task(void const *pvParameters);
void encoder_init(void);

#ifdef __cplusplus
}
#endif

#endif

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
